// 全体の初期化
void init( void )
{
// シリアル通信、カウンタ、PWM出力の初期化
sci_init( 38400 );
// コンペアマッチタイマの初期化
setIntMask( 9 ); // レベル10〜15は割り込み許可
initServo( );
noPWM_brake( );
initCounter( ); // エンコーダカウンタの初期化
initAD( );
}
void tileSetup(void){
//Initialization routines
initIO();
setPort(&PORTB);
sendColor(LEDCLK,LEDDAT,dark);
sei();
initAD();
initTimer();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_enable();
//Set up timing ring buffers
uint8_t i;
for(i = 0; i<6; i++){
timeBuf[i]=0;
}
mode = running;
}
int main(void)
{
//Initialization routines
initIO();
setPort(&PORTB);
sendColor(LEDCLK,LEDDAT,colors[0]);
sei();
initAD();
initTimer();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_enable();
//Set up timing ring buffers
for(uint8_t i = 0; i<6; i++){
timeBuf[i]=0;
}
mode = running;
while(1)
{
if(mode==sleep){
disAD();
//
DDRB &= ~IR;//Set direction in
PORTB &= ~IR;//Set pin tristated
sendColor(LEDCLK, LEDDAT, dark);
PORTA |= POWER;//Set LED and Mic power pin high (off)
wake = 0;
while(!wake){
cli();
uint32_t diff = timer-powerDownTimer;
sei();
if(diff>500){
sleep_cpu();
wake = 1;
}
}
holdoff=500;
PORTA &= ~POWER;
uint8_t done = 0;
cli();
uint32_t startTime = timer;
sei();
while(!done){
cli();
uint32_t time = timer;
sei();
if(time-startTime>250){
done=1;
}
}
done = 0;
cli();
startTime = timer;
sei();
DDRB |= IR;//Set direction out
PORTB |= IR;//Set pin on
sendColor(LEDCLK, LEDDAT, transmitColor);
while(!done){
cli();
uint32_t time = timer;
sei();
if(time-startTime>500){
done=1;
}
}
enAD();
powerDownTimer = timer;
sleepTimer = timer;
mode = running;
}else if(mode==running){
if(click){
uint8_t neighborStates[6];
getStates(neighborStates);
uint8_t clickColor[] = {bright(colors[state][0]),bright(colors[state][1]),bright(colors[state][2])};
sendColor(LEDCLK, LEDDAT, clickColor);
uint8_t numOn = 0;
sync = 3;//request sync pulse be sent at next possible opportunity (set to 4 for logistical reasons)
for (uint8_t i = 0; i< 6; i++)
{
//at the moments specific state detection is a bit iffy,
//so mapping any received state>1 to a state of 1 works for now
if(neighborStates[i]>0){
numOn++;
}
}
//Logic for what to do to the state based on number of on neighbors
if(state == 0) {
if(birthRules[numOn]) {
state=1;
}
}
else {
if(deathRules[numOn]) {
state = (state + 1) % numStates;
}
}
//End logic
//prevent another click from being detected for a bit
holdoff = 100;
click = 0;
}
//periodically update LED once every 0x3F = 64 ms (fast enough to feel responsive)
cli();
if(!(timer & 0x3F)){
if(timer!=lastTime){
lastTime=timer;
cycleTimer++;
cycleTimer %= CYCLE_TIME;
uint8_t outColor[3] = {(colors[state][0]*breatheCycle[cycleTimer])/255,
(colors[state][1]*breatheCycle[cycleTimer])/255,
(colors[state][2]*breatheCycle[cycleTimer])/255};
sendColor(LEDCLK, LEDDAT, outColor);
}
}
sei();
//check if we enter sleep mode
cli();//temporarilly prevent interrupts to protect timer
if(timer-sleepTimer>1000*TIMEOUT){
mode = sleep;
}
sei();
}else if(mode==recieving){
//disable A/D
disAD();
//set photo transistor interrupt to only trigger on specific direction
setDir(progDir);
//set recieving color
sendColor(LEDCLK, LEDDAT, recieveColor);
//record time entering the mode for timeout
cli();
uint32_t modeStart = timer;
sei();
while(mode==recieving){//stay in this mode until instructed to leave or timeout
cli();
uint32_t diff = timer-modeStart;
sei();
if(diff>3000){//been in mode 1 for more than 5 seconds
mode = transmitting;
}
}
}else if(mode==transmitting){
//disable Phototransistor Interrupt
setDirNone();
//set LED to output
DDRB |= IR;//Set direction out
//send 5 pulses
uint32_t startTime = timer;
if(bitsRcvd>=8 && comBuf[0]!=seqNum){
for(int i=0; i<5; i++){
while(timer==startTime){
PORTB &= ~IR;
}
startTime = timer;
while(timer==startTime){
PORTB |= IR;
}
startTime = timer;
}
parseBuffer();
}else{
bitsRcvd = 0;
}
startTime = timer;
sendColor(LEDCLK, LEDDAT, transmitColor);//update color while waiting
while(timer<startTime+20);//pause for mode change
startTime = timer;
uint16_t timeDiff;
uint16_t bitNum;
while(bitsRcvd>0){
timeDiff = (timer-startTime)/PULSE_WIDTH;
bitNum = timeDiff/2;
if(timeDiff%2==0){//first half
if(comBuf[bitNum/8]&(1<<bitNum%8)){//bit high
PORTB &= ~IR;
}else{//bit low
PORTB |= IR;
}
}else{//second half
if(comBuf[bitNum/8]&(1<<bitNum%8)){//bit high
PORTB |= IR;
}else{//bit low
PORTB &= ~IR;
}
}
if(bitNum>=bitsRcvd){
bitsRcvd = 0;
}
}
//while(timer<startTime+2000);//pause for effect
//done transmitting
//re-enable A/D
enAD();
//re-enable all phototransistors
setDirAll();
state = 0;
mode = running;
}
}
}
